BR112016008313B8 - Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology - Google Patents

Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology

Info

Publication number
BR112016008313B8
BR112016008313B8 BR112016008313A BR112016008313A BR112016008313B8 BR 112016008313 B8 BR112016008313 B8 BR 112016008313B8 BR 112016008313 A BR112016008313 A BR 112016008313A BR 112016008313 A BR112016008313 A BR 112016008313A BR 112016008313 B8 BR112016008313 B8 BR 112016008313B8
Authority
BR
Brazil
Prior art keywords
robot
test robot
freedom
pressure vessel
virtual reality
Prior art date
Application number
BR112016008313A
Other languages
Portuguese (pt)
Other versions
BR112016008313B1 (en
BR112016008313A2 (en
Inventor
Chengjun Ding
Ge Lin
Huaidong Chen
Jian Chen
Keqing Wang
Ming Li
Minglu Zhang
Xiaochen Huang
Xuehong Zhu
Zhongyuan Lin
Original Assignee
Cgnpc Inspection Tech Co Ltd
China General Nuclear Power
Suzhou Nuclear Power Res Inst
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cgnpc Inspection Tech Co Ltd, China General Nuclear Power, Suzhou Nuclear Power Res Inst filed Critical Cgnpc Inspection Tech Co Ltd
Publication of BR112016008313A2 publication Critical patent/BR112016008313A2/pt
Publication of BR112016008313B1 publication Critical patent/BR112016008313B1/en
Publication of BR112016008313B8 publication Critical patent/BR112016008313B8/en

Links

Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21D—NUCLEAR POWER PLANT
    • G21D3/00—Control of nuclear power plant
    • G21D3/001—Computer implemented control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

método de teste inteligente de um robô de teste não destrutivo em um recipiente de pressão de reator nuclear com base em tecnologia de realidade virtual. a invenção refere-se a um método de teste inteligente para robô de teste não destrutivo com base em tecnologia de realidade virtual, sendo que o método compreende as etapas de: (1) instalar um robô de teste para conduzir um teste não destrutivo em uma posição predeterminada no interior de um recipiente de pressão de reator a ser testado; (2) definir cada liberdade de eixo geométrico de moção do robô de teste para um estado inicial, marcando a posição de cada liberdade de eixo geométrico de moção, e construindo um sistema de coordenada global e o sistema de coordenadas de eixo geométrico de cada liberdade de eixo geométrico de moção; (3) estabelecer uma relação correspondente entre um modelo de simulação e o dispositivo real; (4) o modelo de simulação de robô de teste muda a posição e a postura em um ambiente virtual tridimensional de acordo com o valor de retroalimentação de informações de posição e de postura de cada liberdade de eixo geométrico de moção do robô de teste obtido em tempo real, e exibe e controla virtualmente o robô de teste para se mover sincronamente a fim de conduzir o teste não destrutivo. o método realiza um modo de controle de exibição wysiwyg (o que você vê é o que você obtém) omnidirecional tridimensional, aprimorando, assim, consideravelmente a segurança e eficiência de implantação de um projeto no local.Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology. the invention relates to an intelligent testing method for non-destructive testing robot based on virtual reality technology, the method comprising the steps of: (1) installing a testing robot to conduct a non-destructive test on a predetermined position within a reactor pressure vessel to be tested; (2) set each motion axis freedom of the test robot to an initial state, marking the position of each motion axis freedom, and constructing a global coordinate system and the geometry axis coordinate system of each freedom geometric axis of motion; (3) establish a corresponding relationship between a simulation model and the real device; (4) the test robot simulation model changes the position and posture in a three-dimensional virtual environment according to the feedback value of position and posture information of each freedom of motion geometric axis of the test robot obtained in real-time, and virtually displays and controls the test robot to move synchronously to conduct non-destructive testing. the method realizes a three-dimensional omnidirectional wysiwyg (what you see is what you get) view control, thus greatly improving the safety and efficiency of deploying an on-premises project.

BR112016008313A 2013-10-18 2014-09-29 Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology BR112016008313B8 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201310493138.5A CN103761996B (en) 2013-10-18 2013-10-18 Based on the Non-Destructive Testing intelligent robot detection method of virtual reality technology
CN201310493138.5 2013-10-18
PCT/CN2014/087770 WO2015055085A1 (en) 2013-10-18 2014-09-29 Intelligent testing method of nondestructive robot testing based on virtual reality technology

Publications (3)

Publication Number Publication Date
BR112016008313A2 BR112016008313A2 (en) 2017-08-01
BR112016008313B1 BR112016008313B1 (en) 2022-01-25
BR112016008313B8 true BR112016008313B8 (en) 2022-05-31

Family

ID=50529220

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112016008313A BR112016008313B8 (en) 2013-10-18 2014-09-29 Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology

Country Status (4)

Country Link
EP (1) EP3059738B1 (en)
CN (1) CN103761996B (en)
BR (1) BR112016008313B8 (en)
WO (1) WO2015055085A1 (en)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103985424B (en) * 2014-05-29 2017-02-15 中广核检测技术有限公司 Nuclear reactor pressure vessel nondestructive detection robot and detection method thereof
CN103995478B (en) * 2014-05-30 2016-05-18 山东建筑大学 Modular Press Machine tool arm experiment porch and method based on virtual reality interaction
CN105810078B (en) * 2014-12-31 2018-08-24 国核电站运行服务技术有限公司 A kind of detection simulation system for nuclear reactor pressure container
CN106997175A (en) * 2016-10-21 2017-08-01 遨博（北京）智能科技有限公司 A kind of robot simulation control method and device
US10453273B2 (en) 2017-04-25 2019-10-22 Microsoft Technology Licensing, Llc Method and system for providing an object in virtual or semi-virtual space based on a user characteristic
JP6538760B2 (en) * 2017-06-22 2019-07-03 ファナック株式会社 Mixed reality simulation apparatus and mixed reality simulation program
CN107817695B (en) * 2017-09-28 2022-02-18 广州明珞汽车装备有限公司 Method and system for batch detection and setting of robot simulation soft limit
CN107756376A (en) * 2017-10-18 2018-03-06 江西制造职业技术学院 A kind of space station using anthropomorphic robot is repaired and maintaining method
CN109958837A (en) * 2017-12-14 2019-07-02 湘潭宏远电子科技有限公司 A kind of pipe robot control device
CN109531566B (en) * 2018-11-16 2022-08-19 国网江苏省电力有限公司盐城供电分公司 Robot live-line work control method based on virtual reality system
CN111351849A (en) * 2018-12-20 2020-06-30 核动力运行研究所 Automatic ultrasonic signal acquisition and cooperative control system and method
CN109483601B (en) * 2018-12-24 2023-11-28 合肥欣奕华智能机器股份有限公司 Industrial robot function test system and test method
CN109702746A (en) * 2019-01-18 2019-05-03 弗徕威智能机器人科技（上海）有限公司 It is a kind of to move and position two-way synchronization method
CN110559083B (en) * 2019-09-10 2020-08-25 深圳市精锋医疗科技有限公司 Surgical robot and control method and control device for tail end instrument of surgical robot
CN110704983B (en) * 2019-10-12 2023-01-20 中国铁路设计集团有限公司 Crane dynamic operation simulation method for joint linkage under parameter drive
CN111300412A (en) * 2020-02-28 2020-06-19 华南理工大学 Method for controlling robot based on illusion engine
CN111251305B (en) * 2020-03-13 2023-02-07 南方科技大学 Robot force control method, device, system, robot and storage medium
CN111883271B (en) * 2020-06-03 2022-08-16 湖北工业大学 Method and system for accurately positioning automatic detection platform of nuclear reactor pressure vessel
CN112066905B (en) * 2020-07-03 2021-09-03 河南省锅炉压力容器安全检测研究院 Detection tool and modeling method for deformation quantity of outer surface of pressure-bearing special equipment
CN112432999B (en) * 2020-10-30 2024-03-29 中广核检测技术有限公司 Ultrasonic inspection robot scanning and positioning method
CN114619436A (en) * 2020-12-08 2022-06-14 山东新松工业软件研究院股份有限公司 EtherCAT-based six-axis robot control system test equipment and method thereof
CN113126568B (en) * 2021-03-10 2022-08-09 上海乾庾智能科技有限公司 Industrial robot operation and demonstration system based on augmented reality technology
CN113001142B (en) * 2021-03-18 2023-02-03 北京空间机电研究所 Automatic double-mechanical-arm assembling system for large-scale block optical assembly
CN113295732B (en) * 2021-04-22 2022-09-30 杭州申昊科技股份有限公司 Pipeline robot capable of detecting pipeline defects and control method and control system thereof
CN113359987B (en) * 2021-06-03 2023-12-26 煤炭科学技术研究院有限公司 Semi-physical fully-mechanized mining and real-time operating platform based on VR virtual reality
CN114367975A (en) * 2021-11-15 2022-04-19 上海应用技术大学 Verification system of series industrial robot control algorithm
CN114519759B (en) * 2022-02-14 2023-11-14 同恩(上海)工程技术有限公司 View transformation method, device and medium
CN115206079A (en) * 2022-05-16 2022-10-18 中国第一汽车股份有限公司 High-efficiency adjusting system and method for nondestructive inspection
WO2024060141A1 (en) * 2022-09-22 2024-03-28 宁德时代新能源科技股份有限公司 Method and device for modifying parameter of kinematic pair, and production line system

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2154015C3 (en) * 1971-10-29 1974-05-09 Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg Device for carrying out examinations and repeat tests on the inner surfaces of open-top pressure vessels
JPH04269185A (en) * 1991-02-20 1992-09-25 Fujitsu Ltd Remote control device for robot
US5809099A (en) * 1997-05-05 1998-09-15 Korea Atomic Energy Research Institute Laser-guided underwater wall climbing robot for reactor pressure vessel inspection
CN100398083C (en) * 2002-08-30 2008-07-02 延自强 Virtual reality acupuncture point location method and system
DE102008027475A1 (en) * 2008-06-09 2009-12-10 Kuka Roboter Gmbh Device and method for the computer-aided generation of a manipulator track
CN101434067A (en) * 2008-12-12 2009-05-20 四川成焊宝玛焊接装备工程有限公司 Seamless connection method for off-line programming and on-site debugging of robot
JP5583518B2 (en) * 2010-08-20 2014-09-03 カヤバ工業株式会社 Reactor inspection robot
JP5916320B2 (en) * 2011-08-31 2016-05-11 株式会社ハイボット Remote control device
CN102629110A (en) * 2012-04-12 2012-08-08 余大利 Pressurized water reactor hardware-in-the-loop simulation system based on physical model
CN102848389B (en) * 2012-08-22 2015-06-17 浙江大学 Realization method for mechanical arm calibrating and tracking system based on visual motion capture
CN103268381B (en) * 2013-05-28 2016-02-10 哈尔滨工业大学 A kind of method for double-workpiece-platform semi-physical simulation based on virtual reality technology

Also Published As

Publication number Publication date
EP3059738B1 (en) 2019-11-20
WO2015055085A1 (en) 2015-04-23
EP3059738A1 (en) 2016-08-24
CN103761996B (en) 2016-03-02
BR112016008313B1 (en) 2022-01-25
BR112016008313A2 (en) 2017-08-01
CN103761996A (en) 2014-04-30
EP3059738A4 (en) 2017-06-28

Similar Documents

Publication Publication Date Title
BR112016008313B8 (en) Intelligent testing method of a non-destructive test robot in a nuclear reactor pressure vessel based on virtual reality technology
Morelli et al. Aircraft system identification: theory and practice
Xia et al. A new type haptics-based virtual environment system for assembly training of complex products
CN105559887B (en) The surgical cut training system and method based on force feedback for operating robot
BR112013000540A2 (en) method for calibration of a robot positioned on a mobile platform
BR112012017278A2 (en) Method and system for creating historical fit simulation models
WO2013093645A3 (en) Systems and methods for designing and generating devices using accuracy maps and stability analysis
BR112013032908A2 (en) method and apparatus for controlling market-based energy services
CN102430779A (en) Device for measuring normal vector at arbitrary point on free-form surface and measuring method thereof
CN108008645A (en) Six-degree-of-freedom simulation modeling method
Bernal et al. MLE+ a tool for integrated design and deployment of energy efficient building controls
Hroncová et al. Kinematic analysis of the press mechanism using MSC Adams
CN104443450B (en) micro-satellite navigation system ground verification system and method
CN102789393A (en) Virtual simulation method for linkage of aircraft cabin display device and cabin outside scene
CN107665616A (en) A kind of nine-degree of freedom motion simulator relative motion equivalent method and system
Ariyanto et al. Mathematical and physical modelling with dynamic change in the center of gravity of quadrotor
Bharath et al. Solid modelling interaction with sensors in virtual environment for the application of virtual reality welding
CN106339545B (en) A kind of rock mass rheology analogy method based on discontinuous deformation analysis
CN104960676A (en) Multi-degree of freedom air floated platform pressure stabilizing device and pressure stabilizing method
CN204516250U (en) Dissolved acetylene gas bottle fills analog machine
Peyada et al. Mathematical modelling, simulation, and estimation of aircraft parameters using five degree-of-freedom dynamic test rig
Ahmad et al. Development of A Generic Flight Simulator For Fixed Wing Aircraft
CN204516249U (en) Permanent gas cylinder filling analog machine
Lou et al. Design of AUV controller HIL simulation platform
BR102015012799A2 (en) process of generating an enriched numerical model

Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/09/2014, OBSERVADAS AS CONDICOES LEGAIS.

B09W Correction of the decision to grant [chapter 9.1.4 patent gazette]

Free format text: RETIFIQUE-SE, POR INCORRECAO NO QUADRO 1 DO ARECER ANTERIOR

B16C Correction of notification of the grant [chapter 16.3 patent gazette]

Free format text: REFERENTE A RPI 2664 DE 25/01/2022, QUANTO AO DESENHO